WO2016035214A1 - Collision avoidance system and collision avoidance method - Google Patents
Collision avoidance system and collision avoidance method Download PDFInfo
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- WO2016035214A1 WO2016035214A1 PCT/JP2014/073565 JP2014073565W WO2016035214A1 WO 2016035214 A1 WO2016035214 A1 WO 2016035214A1 JP 2014073565 W JP2014073565 W JP 2014073565W WO 2016035214 A1 WO2016035214 A1 WO 2016035214A1
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- avoidance system
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- 238000000034 method Methods 0.000 title claims description 24
- 238000001514 detection method Methods 0.000 claims abstract description 81
- 238000005259 measurement Methods 0.000 claims description 25
- 238000004364 calculation method Methods 0.000 claims description 22
- 230000003542 behavioural effect Effects 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 16
- 230000008054 signal transmission Effects 0.000 description 8
- 238000003384 imaging method Methods 0.000 description 5
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- 230000002040 relaxant effect Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000000470 constituent Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Classifications
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G01S2013/9323—Alternative operation using light waves
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G—PHYSICS
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Definitions
- the present invention relates to a collision avoidance system and a collision avoidance method.
- Patent Document 1 discloses a driving support device that prevents the occurrence of a driving error due to the running of the following vehicle. In the device described in Patent Document 1, it is determined that the rolling operation has occurred when a state equal to or shorter than a predetermined inter-vehicle distance continues for a predetermined fixed time or longer.
- the present invention has been made in view of the above, and an object of the present invention is to provide a collision avoidance system and a collision avoidance method capable of increasing the possibility of avoiding a collision between the own vehicle and a following vehicle.
- a collision avoidance system relates to a detection device that is provided in a host vehicle and detects a behavior of an object around the host vehicle in a non-contact manner, and a warning toward a following vehicle that runs behind the host vehicle.
- An alarm device that performs an alarm operation; and a control device that controls the alarm device based on a detection result of the detection device, wherein the control device is a behavior pattern in which the behavior of the object of the detection result is unnatural. When this is true, the alarm device is controlled to perform the alarm operation.
- the control device includes a storage unit that stores behavior data related to the unnatural behavior pattern, a behavior analysis unit that analyzes the behavior of the object based on the detection result, behavior data stored in the storage unit, A comparison unit that compares the analysis result data corresponding to the analysis result by the behavior analysis unit, and as a result of the comparison by the comparison unit, when the analysis result data and the behavior data match, It is preferable to control the alarm device.
- the object around the own vehicle is a vehicle other than the own vehicle, and the unnatural behavior pattern includes a behavior pattern that may cause a drowsy driving, a behavior pattern that may cause a drunk driving, and a dangerous driving. It is preferable that at least one of the corresponding behavior patterns is included, and the storage unit stores data related to the unnatural behavior pattern by the other vehicle as the behavior data.
- the detection device includes a radar unit that outputs, as the detection result, a measurement signal based on a reflected wave of an electromagnetic wave irradiated toward an object around the vehicle, and the behavior analysis unit is based on the measurement signal.
- a predetermined calculation process may be performed, and the result of the calculation process may be output as the analysis result data.
- the behavior analysis unit may perform a calculation to obtain a change or rate of change of the value indicated by the measurement signal.
- the detection device includes a photographing unit that photographs an object around the host vehicle, and outputs an image signal based on an image photographed by the photographing unit as the detection result, and the behavior analysis unit outputs the image signal to the image signal.
- Predetermined image processing may be performed on the base image, and the result of the image processing may be output as the analysis result data.
- the behavior analysis unit may perform a calculation for obtaining a change or rate of change of a value obtained from an image based on the image signal.
- the object may include a following vehicle that runs behind the vehicle.
- the object may include a preceding vehicle that runs ahead of the host vehicle.
- the alarm operation may include at least one of an operation of performing a predetermined display toward the following vehicle and an operation of outputting a predetermined sound toward the subsequent vehicle.
- the alarm operation may include an operation of transmitting a signal for operating another alarm device provided in the succeeding vehicle to the succeeding vehicle.
- the control device may further include a cancel unit that stops the execution of the alarm operation based on a detection result of the behavior of the host vehicle.
- a collision avoidance method includes a first step of detecting a behavior of an object around the vehicle in a non-contact manner by a detection device provided in the vehicle, and the detection result of the object in the first step.
- a second step in which the control device determines whether or not the behavior corresponds to an unnatural behavior pattern, and an alarm operation related to an alarm for a subsequent vehicle running behind the vehicle based on the determination result in the second step.
- a third step performed by the alarm device.
- the collision avoidance system and the collision avoidance method according to the present invention by warning the following vehicle, the inter-vehicle distance between the own vehicle and the following vehicle is appropriately maintained, and the collision between the own vehicle and the following vehicle is prevented.
- the possibility of avoidance can be increased.
- FIG. 1 is a functional block diagram of a collision avoidance system according to this embodiment.
- FIG. 2 is a diagram schematically illustrating an example of a vehicle provided with the collision avoidance system according to the present embodiment.
- FIG. 3 is a functional block diagram of the collision avoidance system when behavior is detected using a radar.
- FIG. 4 is a flowchart illustrating a processing example of the behavior analysis unit when the behavior is detected using the radar by the collision avoidance system in FIG. 3.
- FIG. 5 is a functional block diagram of the collision avoidance system when behavior is detected by image processing.
- FIG. 6 is a flowchart showing a processing example of the behavior analysis unit when the behavior is detected by image processing by the collision avoidance system of FIG.
- FIG. 1 is a functional block diagram of a collision avoidance system according to this embodiment.
- FIG. 2 is a diagram schematically illustrating an example of a vehicle provided with the collision avoidance system according to the present embodiment.
- FIG. 3 is a functional block diagram of the collision avoidance system
- FIG. 7 is a diagram schematically showing the operation of the collision avoidance system shown in FIG.
- FIG. 8 is a diagram schematically illustrating another example of the vehicle provided with the collision avoidance system according to the present embodiment.
- FIG. 9 is a diagram schematically showing the operation of the collision avoidance system shown in FIG.
- FIG. 10 is a functional block diagram of a collision avoidance system that prevents warning by an alarm device even when an unnatural behavior pattern is detected.
- FIG. 11 is a flowchart illustrating an example of a collision avoidance method by the collision avoidance system according to the present embodiment.
- FIG. 1 is a functional block diagram of a collision avoidance system according to this embodiment.
- a collision avoidance system 1 according to the present embodiment is provided in a vehicle, and includes a detection device 20, a control device 30, and an alarm device 40.
- Detecting device 20 detects the behavior of an object around the vehicle (own vehicle) in a non-contact manner.
- the object around the host vehicle is a vehicle that travels around the host vehicle, for example, a subsequent vehicle that runs behind the host vehicle, a preceding vehicle that runs ahead of the host vehicle, or both the following vehicle and the preceding vehicle.
- the succeeding vehicle to be detected by the detection device 20 may be, for example, a vehicle that runs diagonally backward or sideways other than a vehicle that runs immediately behind the host vehicle.
- the preceding vehicle to be detected by the detection device 20 may be, for example, a vehicle that runs diagonally forward or sideways other than the vehicle that runs immediately before the host vehicle.
- an object around the own vehicle is a vehicle, that is, a vehicle other than the own vehicle will be described.
- the detection device 20 includes a radar device (millimeter wave radar device, Doppler radar device).
- the radar device can detect the presence or absence of an object existing behind the host vehicle 10 by transmitting a radio wave (or ultrasonic wave) and receiving a radio wave (or ultrasonic wave) reflected by the object.
- the radar apparatus can detect not only the presence / absence of an object but also a relative position (relative distance and azimuth) with the object and a relative speed with the object.
- the detection device 20 may include at least one of a laser scanner and a three-dimensional distance sensor.
- the detection device 20 may include an imaging device (camera) that can acquire an optical image of an object and detect the object in a non-contact manner. The detection by the detection device 20 is performed at a predetermined cycle (for example, every second).
- the control device 30 controls the alarm device 40 based on the detection result by the detection device 20.
- the control device 30 controls the alarm device 40 to perform an alarm operation when the behavior of the object detected by the detection device 20 corresponds to a predetermined unnatural behavior pattern.
- the control device 30 includes a storage unit 31, a behavior analysis unit 32, a comparison unit 33, and an alarm device control unit 34.
- the storage unit 31 stores behavior data regarding an unnatural behavior pattern.
- Unnatural behavior patterns include, for example, behavior patterns that may cause drowsy driving, behavior patterns that may cause drunk driving, behavior patterns that correspond to dangerous driving such as meandering, shoulder driving, and sudden acceleration / deceleration. At least one of the following.
- storage part 31 memorize
- the detection result of the detection device 20 when these unnatural behavior patterns are traveled is acquired in advance, and the storage unit 31 stores data corresponding to the detection results.
- the detection result of the detection device 20 can be acquired by actually running two vehicles.
- the behavior analysis unit 32 performs a predetermined process based on the detection result of the detection device 20, thereby analyzing the behavior of a vehicle other than the own vehicle and outputs the behavior pattern analysis result data.
- the predetermined process is, for example, a calculation process for a measurement signal obtained by a radar or an image process for an image obtained by photographing.
- the comparison unit 33 compares the behavior data stored in the storage unit 31 with the analysis result data corresponding to the analysis result by the behavior analysis unit 32.
- the warning device control unit 34 controls the warning device 40 to give a warning when the analysis result data matches the behavior data as a result of the comparison by the comparison unit 33.
- the alarm device 40 performs an alarm operation related to an alarm toward the following vehicle running behind the host vehicle.
- the alarm device 40 includes a warning display unit 41, a warning sound output unit 42, and a warning signal transmission unit 43.
- the warning display unit 41 performs a warning by lighting a lamp or displaying an image, for example.
- the lamp is not limited to the lamp originally provided in the vehicle in order to satisfy the traffic regulations.
- the image may be displayed by blinking the lamp (for example, blinking the brake lamp) in addition to lighting the lamp.
- the image is displayed by, for example, displaying a predetermined message on a known LED display device or liquid crystal display.
- the warning sound output unit 42 issues a warning by outputting a warning sound.
- the warning sound includes synthesized speech.
- the warning signal transmission unit 43 wirelessly transmits a control signal for operating another alarm device provided in another vehicle such as the following vehicle to the vehicle.
- the vehicle that has received the control signal from the warning signal transmission unit 43 operates an alarm device provided in the host vehicle and warns the driver of the host vehicle.
- FIG. 2 is a diagram schematically illustrating an example of a vehicle provided with the collision avoidance system according to the present embodiment.
- the host vehicle 10 is a four-wheeled vehicle.
- the own vehicle 10 has two front wheels 12F and two rear wheels 12R.
- the own vehicle 10 has a driver's cab in which the driver is boarded.
- the own vehicle 10 includes a detection device 20 disposed in the rear portion 13 ⁇ / b> R of the vehicle body 11. For this reason, the detection device 20 can detect the following vehicle running behind the host vehicle 10 in a non-contact manner. In addition, you may make it the detection apparatus 20 detect the vehicle which runs diagonally back or the side other than the vehicle which drive
- FIG. 3 is a functional block diagram of the collision avoidance system when behavior is detected using a radar.
- the collision avoidance system 1 of this example includes a radar unit 21 in the detection device 20.
- the radar unit 21 includes, for example, a radar device (for example, a millimeter wave radar device or a Doppler radar device).
- the radar unit 21 includes a transmitter and a receiver (not shown), transmits radio waves (or ultrasonic waves), receives radio waves (or ultrasonic waves) reflected by an object, and The presence or absence of other vehicles in front can be measured.
- the radar unit 21 is provided in the rear portion 13R of the vehicle, the following vehicle is a measurement target.
- the radar unit 21 is provided in the front portion 13F of the vehicle, the preceding vehicle is a measurement target.
- the radar unit 21 can measure not only the presence / absence of another vehicle but also the relative position (relative distance and direction) between the host vehicle 10 and the other vehicle and the relative speed between the host vehicle 10 and the other vehicle.
- the radar unit 21 may include at least one of a laser scanner and a three-dimensional distance sensor.
- the detection device 20 outputs a measurement result obtained by the radar unit 21 as a measurement signal 210.
- the measurement signal 210 is a detection result by the detection device 20.
- the measurement signal 210 is input to the control device 30.
- the behavior analysis unit 32 of the control device 30 sequentially performs predetermined calculation processing on the measurement signal 210. For example, when the measurement signal 210 indicates a relative position between the host vehicle 10 and another vehicle, the behavior analysis unit 32 determines the difference (value change) between the value indicated by the measurement signal 210 input last time, that is, the relative distance and direction. ) Or a calculation for obtaining the relative distance and the change rate of the direction. For example, when the measurement signal 210 indicates the relative speed between the host vehicle 10 and another vehicle, the behavior analysis unit 32 calculates the difference from the relative speed indicated by the previously input measurement signal 210 or the rate of change of the relative speed. You may perform the operation to obtain.
- the behavior analysis unit 32 stores a predetermined number of calculation results, and outputs the difference change pattern or the change rate change pattern in the predetermined number of calculations as behavior pattern analysis result data.
- the comparison unit 33 compares the behavior data stored in the storage unit 31 with the analysis result data corresponding to the analysis result by the behavior analysis unit 32.
- the storage unit 31 stores in advance data for comparison with the analysis result data output by the behavior analysis unit 32, that is, behavior data regarding an unnatural behavior pattern.
- Unnatural behavior patterns include, for example, behavior patterns that may cause drowsy driving, behavior patterns that may cause drunk driving, behavior patterns that correspond to dangerous driving such as meandering, shoulder driving, and sudden acceleration / deceleration. is there.
- a behavior pattern having a possibility of drowsy driving for example, a pattern in which a difference in relative orientation with other vehicles or a change rate gradually increases is applicable.
- a behavior pattern having a possibility of drunk driving for example, a pattern in which a relative azimuth difference or change rate with other vehicles repeats rising and falling is applicable.
- Examples of behavior patterns that correspond to dangerous driving such as meandering, shoulder-shouldering, sudden acceleration / deceleration, etc. include a pattern in which the relative distance and direction difference or rate of change with other vehicles abruptly change or relative to other vehicles. This corresponds to a pattern in which the difference in speed or the rate of change in relative speed changes rapidly.
- the comparison unit 33 reads the behavior data regarding the unnatural behavior pattern from the storage unit 31 and compares the read behavior data with the analysis result data corresponding to the analysis result by the behavior analysis unit 32.
- the warning device control unit 34 controls the warning device 40 to give a warning when the analysis result data matches the behavior data as a result of the comparison by the comparison unit 33.
- FIG. 4 is a flowchart showing a processing example of the behavior analysis unit 32 when the behavior is detected using the radar by the collision avoidance system 1 of FIG.
- the behavior analysis unit 32 acquires a measurement signal 210 corresponding to the measurement result by the radar unit 21 (step S201).
- the behavior analysis unit 32 performs the above-described calculation process on the measurement signal 210 (step S202).
- the behavior analysis unit 32 stores a predetermined number of calculation results, and outputs the difference change pattern or the change rate change pattern in the predetermined number of calculations as behavior pattern analysis result data (step S3). S203).
- the collision avoidance system 1 can detect the behavior of another vehicle using a radar, and can warn the following vehicle if it falls under an unnatural behavior pattern.
- FIG. 5 is a functional block diagram of the collision avoidance system when behavior is detected by image processing.
- the collision avoidance system 1 of the present example includes a photographing unit 22 in the detection device 20.
- the photographing unit 22 photographs an object around the own vehicle and acquires an optical image of the object.
- the photographing unit 22 is provided in the rear portion 13R of the vehicle, the subsequent vehicle is photographed.
- the photographing unit 22 is provided in the front part 13F of the vehicle, the preceding vehicle is photographed.
- the detection device 20 outputs an image signal 220 based on the image photographed by the photographing unit 22.
- the image signal 220 is a detection result by the detection device 20.
- the image signal 220 is input to the control device 30.
- the behavior analysis unit 32 of the control device 30 sequentially performs predetermined image processing on the image based on the image signal 220.
- the behavior analysis unit 32 may perform processing for obtaining a relative position (relative distance and direction) with another vehicle from an image based on the image signal 220.
- the behavior analysis unit 32 may perform processing for obtaining a relative speed with another vehicle from an image based on the image signal 220, for example.
- the behavior analysis unit 32 may perform, for example, processing for obtaining a distance from a white line or a yellow line marked on the road from an image based on the image signal 220.
- the behavior analysis unit 32 may perform a process of obtaining a distance from a roadside fence from an image based on the image signal 220, for example.
- the roadside fence is often provided on the highway. For this reason, when the own vehicle 10 is traveling on a highway, a process for obtaining a distance from a fence on the side of the road may be performed.
- the fact that the host vehicle 10 is traveling on an expressway can be obtained from car navigation (not shown) mounted on the host vehicle 10, determined from position information obtained by GPS, or an automatic toll collection system. It may be judged from the passage record of the gate of (ETC).
- the behavior analysis unit 32 may perform a calculation to obtain a value obtained by the previous process, that is, a difference in relative position (change in value) between the own vehicle 10 and another vehicle or a change rate in the relative position.
- the behavior analysis unit 32 may perform a calculation for obtaining the difference between the relative speeds of the host vehicle 10 and other vehicles or the rate of change of the relative speeds obtained by the previous process.
- the behavior analysis unit 32 stores a predetermined number of calculation results, and outputs the difference change pattern or the change rate change pattern in the predetermined number of calculations as behavior pattern analysis result data.
- the comparison unit 33 compares the behavior data stored in the storage unit 31 with the analysis result data corresponding to the analysis result by the behavior analysis unit 32.
- the storage unit 31 stores in advance data for comparison with the analysis result data output by the behavior analysis unit 32, that is, behavior data regarding an unnatural behavior pattern.
- Unnatural behavior patterns include, for example, behavior patterns that may cause drowsy driving, behavior patterns that may cause drunk driving, behavior patterns that correspond to dangerous driving such as meandering, shoulder driving, and sudden acceleration / deceleration. is there.
- a behavior pattern having a possibility of drowsy driving for example, a pattern in which a difference in relative orientation with other vehicles or a change rate gradually increases is applicable.
- a behavior pattern having a possibility of drunk driving for example, a pattern in which a relative azimuth difference or change rate with other vehicles repeats rising and falling is applicable.
- Examples of behavior patterns that correspond to dangerous driving such as meandering, shoulder-shouldering, sudden acceleration / deceleration, etc. include a pattern in which the relative distance and direction difference or rate of change with other vehicles abruptly change or relative to other vehicles. This corresponds to a pattern in which the difference in speed or the rate of change in relative speed changes rapidly.
- the comparison unit 33 reads the behavior data regarding the unnatural behavior pattern from the storage unit 31 and compares the read behavior data with the analysis result data corresponding to the analysis result by the behavior analysis unit 32.
- the warning device control unit 34 controls the warning device 40 to give a warning when the analysis result data matches the behavior data as a result of the comparison by the comparison unit 33.
- FIG. 6 is a flowchart showing a processing example of the behavior analysis unit 32 when the behavior is detected by image processing by the collision avoidance system 1 of FIG.
- the behavior analysis unit 32 acquires an image signal 220 corresponding to the imaging result by the imaging unit 22 (step S ⁇ b> 301).
- the behavior analysis unit 32 performs the above-described image processing on the image signal 220 (step S302).
- the behavior analysis unit 32 stores a predetermined number of calculation results obtained by image processing, and uses the difference pattern or the change rate change pattern in the predetermined number of calculations as the behavior pattern analysis result. Output as data (step S303).
- FIG. 7 is a diagram schematically showing the operation of the collision avoidance system shown in FIG.
- arrows Y ⁇ b> 1 and Y ⁇ b> 2 indicate traveling directions of the following vehicle 60 and the host vehicle 10.
- the detection device 20 of the host vehicle 10 detects the behavior of the following vehicle 60 in a non-contact manner.
- the control device 30 controls the alarm device 40 based on the detection result by the detection device 20.
- the control device 30 controls the alarm device 40 when the detection result by the detection device 20 corresponds to a predetermined unnatural behavior pattern, and performs an alarm operation regarding the alarm toward the following vehicle 60.
- the warning device 40 gives a warning toward the following vehicle 60 by the warning display unit 41 or the warning sound output unit 42.
- the alarm device 40 may wirelessly transmit a control signal from the warning signal transmission unit 43 to the following vehicle 60.
- the succeeding vehicle 60 receives the control signal from the warning signal transmitting unit 43 by the receiving unit 61, operates an alarm device (not shown) provided in the own vehicle, and issues a warning to the driver of the own vehicle. Thereby, it can be expected that the driver of the succeeding vehicle 60 performs the brake operation or the operation of releasing the accelerator, and the inter-vehicle distance can be appropriately maintained.
- a brake operation or an operation of relaxing the accelerator may be performed regardless of the operation of the driver.
- FIG. 8 is a diagram schematically illustrating another example of the vehicle provided with the collision avoidance system according to the present embodiment.
- the configurations and operations of the detection device 20, the control device 30, and the alarm device 40 are the same as those described with reference to FIGS. 3 to 6.
- the own vehicle 10 includes a detection device 20 disposed on the front portion 13 ⁇ / b> F of the vehicle body 11.
- the detection device 20 can detect the preceding vehicle running ahead of the host vehicle 10 in a non-contact manner.
- the detection apparatus 20 detect the vehicle which runs diagonally forward or the side other than the vehicle which runs just before the own vehicle, for example, without contact.
- FIG. 9 is a diagram schematically showing the operation of the collision avoidance system shown in FIG.
- arrows Y ⁇ b> 1 and Y ⁇ b> 2 indicate the traveling directions of the following vehicle 60 and the host vehicle 10.
- the detection device 20 of the host vehicle 10 detects the behavior of the preceding vehicle 70 in a non-contact manner.
- the control device 30 controls the alarm device 40 based on the detection result by the detection device 20.
- the control device 30 controls the alarm device 40 when the detection result by the detection device 20 corresponds to a predetermined unnatural behavior pattern, and performs an alarm operation regarding the alarm toward the following vehicle 60.
- the warning device 40 gives a warning toward the following vehicle 60 by the warning display unit 41 or the warning sound output unit 42.
- the alarm device 40 may wirelessly transmit a control signal from the warning signal transmission unit 43 to the following vehicle 60.
- the succeeding vehicle 60 receives the control signal from the warning signal transmitting unit 43 by the receiving unit 61, operates an alarm device (not shown) provided in the own vehicle 10, and issues a warning to the driver of the own vehicle 10. .
- an alarm device not shown
- the driver of the succeeding vehicle 60 performs the brake operation or the operation of releasing the accelerator, and the inter-vehicle distance can be appropriately maintained.
- a brake operation or an operation of relaxing the accelerator may be performed regardless of the operation of the driver.
- Modification 1 In the collision avoidance system 1 described above, an unnatural behavior pattern is detected based on the relative position or relative speed between the own vehicle and another vehicle.
- the alarm device even if an unnatural behavior pattern is detected
- the warning by 40 may not be performed.
- FIG. 10 is a functional block diagram of the collision avoidance system 1a that prevents warning by the alarm device 40 even when an unnatural behavior pattern is detected.
- the collision avoidance system 1a has a configuration in which an acceleration sensor 50 and a cancel unit 35 are added to the configuration in FIG.
- the acceleration sensor 50 detects the acceleration of the vehicle 10 in the lateral direction (a direction orthogonal to the traveling direction), and outputs an acceleration signal 500 indicating the acceleration value.
- the cancel unit 35 is provided in the control device 30.
- the cancel unit 35 cancels the control of the alarm device 40 by the alarm device control unit 34. That is, when the acceleration value indicated by the acceleration signal 500 exceeds a predetermined threshold, it is the case where the host vehicle 10 joins a row of another vehicle, and it can be said that the behavior of the other vehicle is not unnatural. For this reason, in such a case, the control of the alarm device 40 by the alarm device control unit 34 is stopped. That is, the control device 30 stops the execution of the alarm operation based on the detection result on the behavior of the host vehicle 10.
- Both the radar unit 21 and the imaging unit 22 are provided in the detection device 20, the data based on the measurement result (relative position or relative speed) based on the measurement signal 210 corresponds to an unnatural behavior pattern, and the image signal 220.
- the alarm device control unit 34 may operate the alarm device 40 only when the data based on the measurement result (relative position or relative speed) based on the above corresponds to an unnatural behavior pattern.
- the collision avoidance system 1 obtains both the relative speed between the host vehicle 10 and the preceding vehicle 70 and the relative speed between the host vehicle 10 and the following vehicle 60, and based on the difference between the relative speeds or the rate of change in the relative speed. An unnatural behavior may be detected.
- the alarm device 40 may warn the following vehicle 60 and notify the driver of the own vehicle 10. Furthermore, you may provide the reporting part which reports to external organizations, such as a police and a traffic information center.
- FIG. 11 is a flowchart illustrating an example of a collision avoidance method by the collision avoidance system according to the present embodiment.
- the detection device 20 detects the behavior of an object around the vehicle in a non-contact manner (step S101).
- the detection by the detection device 20 is performed at a predetermined cycle (for example, every second).
- the behavior analysis unit 32 analyzes the behavior detected by the detection device 20 (step S102).
- the comparison unit 33 reads the behavior data stored in the storage unit 31 (step S103), and compares the behavior data stored in the storage unit 31 with the analysis result data corresponding to the analysis result by the behavior analysis unit 32. (Step S104).
- the alarm device control unit 34 controls the alarm device 40 to give a warning (step S106) when the analysis result data matches the behavior data as a result of the comparison by the comparison unit 33 (YES in step S105). Thereafter, the process ends.
- the alarm device control unit 34 completes the comparison with all the behavior data stored in the storage unit 31. It is determined whether or not (step S107). When it is determined that the comparison with all the behavior data is not completed (NO in step S107), the comparison unit 33 reads other behavior data stored in the storage unit 31 (step S103). Processing similar to the above is performed.
- step S107 If it is determined in step S107 that comparison with all behavior data has been completed (YES in step S107), the process ends. The above process is performed periodically.
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Abstract
Description
図1は、本実施形態にかかる衝突回避システムの機能ブロック図である。図1において、本実施形態にかかる衝突回避システム1は、車両に設けられるものであり、検出装置20と、制御装置30と、警報装置40とを備えている。 (Collision avoidance system)
FIG. 1 is a functional block diagram of a collision avoidance system according to this embodiment. In FIG. 1, a
図3は、レーダを用いて挙動を検出する場合の衝突回避システムの機能ブロック図である。図3を参照すると、本例の衝突回避システム1は、検出装置20に、レーダ部21を備えている。レーダ部21は、例えば、レーダ装置(例えば、ミリ波レーダ装置またはドップラーレーダ装置)を含む。 (Behavior detection using radar)
FIG. 3 is a functional block diagram of the collision avoidance system when behavior is detected using a radar. Referring to FIG. 3, the
図5は、画像処理によって挙動を検出する場合の衝突回避システムの機能ブロック図である。図5を参照すると、本例の衝突回避システム1は、検出装置20に、撮影部22を備えている。 (Detection of behavior by image processing)
FIG. 5 is a functional block diagram of the collision avoidance system when behavior is detected by image processing. Referring to FIG. 5, the
図7は、図2に示した衝突回避システムによる動作を模式的に示す図である。図7において、矢印Y1、Y2は、後続車60、自車10の走行方向を示している。図7を参照すると、自車10の検出装置20は、後続車60の挙動を非接触で検出する。制御装置30は、検出装置20による検出結果に基づいて、警報装置40を制御する。 (Detects the behavior of the following vehicle)
FIG. 7 is a diagram schematically showing the operation of the collision avoidance system shown in FIG. In FIG. 7, arrows Y <b> 1 and Y <b> 2 indicate traveling directions of the following
図8は、本実施形態にかかる衝突回避システムが設けられる車両の他の例を模式的に示す図である。図8において、検出装置20、制御装置30および警報装置40の構成および動作は、図3から図6までを参照して説明した内容と同様である。 (Detects the behavior of the preceding vehicle)
FIG. 8 is a diagram schematically illustrating another example of the vehicle provided with the collision avoidance system according to the present embodiment. In FIG. 8, the configurations and operations of the
上記の衝突回避システム1では、自車と他の車両との相対位置または相対速度に基づいて、不自然な挙動パターンを検出している。 (Modification 1)
In the
検出装置20に、レーダ部21および撮影部22の両方を設けておき、測定信号210に基づく測定結果(相対位置または相対速度)によるデータが不自然な挙動パターンに該当し、かつ、画像信号220に基づく測定結果(相対位置または相対速度)によるデータが不自然な挙動パターンに該当する場合に限り、警報装置制御部34が警報装置40を動作させてもよい。 (Modification 2)
Both the radar unit 21 and the imaging unit 22 are provided in the
衝突回避システム1は、自車10と先行車70との相対速度と、自車10と後続車60との相対速度との両方を求め、それら相対速度の差または相対速度の変化率に基づいて不自然な挙動を検出するようにしてもよい。 (Modification 3)
The
また、警報装置40は、後続車60に警告を行うとともに、自車10の運転者に報知を行ってもよい。さらに、警察や交通情報センターなどの外部の機関への通報を行う通報部を設けてもよい。 (Modification 4)
The
図11は、本実施形態にかかる衝突回避システムによる衝突回避方法の例を示すフローチャートである。図11において、検出装置20が車両の周囲の物体の挙動を非接触で検出する(ステップS101)。検出装置20による検出は、所定の周期(例えば、1秒ごと)で行われる。 (Collision avoidance method)
FIG. 11 is a flowchart illustrating an example of a collision avoidance method by the collision avoidance system according to the present embodiment. In FIG. 11, the
10 自車
11 車体
20 検出装置
21 レーダ部
22 撮影部
30 制御装置
31 記憶部
32 挙動解析部
33 比較部
34 警報装置制御部
35 キャンセル部
40 警報装置
41 警告表示部
42 警告音出力部
43 警告信号送信部
50 加速度センサ
60 後続車
61 受信部
70 先行車
210 測定信号
220 画像信号
500 加速度信号 DESCRIPTION OF
Claims (13)
- 自車に設けられ、前記自車の周囲の物体の挙動を非接触で検出する検出装置と、
前記自車の後方を走る後続車に向けて警報に関する警報動作を行う警報装置と、
前記検出装置による検出結果に基づいて、前記警報装置を制御する制御装置と、を備え、
前記制御装置は、前記検出結果の前記物体の挙動が不自然な挙動パターンに該当する場合に、前記警報動作を行うように前記警報装置を制御する
衝突回避システム。 A detection device that is provided in the host vehicle and detects the behavior of an object around the host vehicle in a non-contact manner;
An alarm device for performing an alarm operation related to an alarm toward a subsequent vehicle running behind the host vehicle;
A control device for controlling the alarm device based on a detection result by the detection device,
The said control apparatus is a collision avoidance system which controls the said alarm device so that the said alarm operation may be performed when the behavior of the said object of the said detection result corresponds to an unnatural behavior pattern. - 前記制御装置は、
前記不自然な挙動パターンに関する挙動データを記憶する記憶部と、
前記検出結果に基づき、前記物体の挙動を解析する挙動解析部と、
前記記憶部に記憶された挙動データと、前記挙動解析部による解析結果に対応する解析結果データと、を比較する比較部と、
を含み、
前記比較部による比較の結果、前記解析結果データと前記挙動データとが一致するとされた場合に、前記警報装置を制御する
請求項1に記載の衝突回避システム。 The controller is
A storage unit for storing behavior data regarding the unnatural behavior pattern;
A behavior analysis unit for analyzing the behavior of the object based on the detection result;
A comparison unit for comparing the behavior data stored in the storage unit with the analysis result data corresponding to the analysis result by the behavior analysis unit;
Including
2. The collision avoidance system according to claim 1, wherein the alarm device is controlled when the analysis result data and the behavior data coincide with each other as a result of comparison by the comparison unit. - 前記自車の周囲の物体は、自車以外の他の車両であり、
前記不自然な挙動パターンは、居眠り運転の可能性がある挙動パターン、飲酒運転の可能性がある挙動パターン、危険運転に該当する挙動パターン、のうちの少なくとも1つを含み、
前記記憶部は、前記他の車両による前記不自然な挙動パターンに関するデータを前記挙動データとして記憶する
請求項1または請求項2に記載の衝突回避システム。 The object around the vehicle is a vehicle other than the vehicle,
The unnatural behavior pattern includes at least one of a behavior pattern having a possibility of drowsy driving, a behavior pattern having a possibility of drunk driving, and a behavior pattern corresponding to dangerous driving,
The collision avoidance system according to claim 1 or 2, wherein the storage unit stores data relating to the unnatural behavior pattern by the other vehicle as the behavior data. - 前記検出装置は、
前記自車の周囲の物体に向けて照射した電磁波の反射波に基づく測定信号を、前記検出結果として出力するレーダ部を含み、
前記挙動解析部は、
前記測定信号に基づいて所定の演算処理を行い、その演算処理の結果を前記解析結果データとして出力する
請求項1から請求項3のいずれか1項に記載の衝突回避システム。 The detection device includes:
A radar unit that outputs a measurement signal based on a reflected wave of an electromagnetic wave irradiated toward an object around the host vehicle as the detection result;
The behavior analysis unit
The collision avoidance system according to any one of claims 1 to 3, wherein predetermined calculation processing is performed based on the measurement signal, and a result of the calculation processing is output as the analysis result data. - 前記挙動解析部は、前記測定信号が示す値の変化または変化率を求める演算を行う
請求項4に記載の衝突回避システム。 The collision avoidance system according to claim 4, wherein the behavior analysis unit performs a calculation to obtain a change or rate of change of a value indicated by the measurement signal. - 前記検出装置は、
前記自車の周囲の物体を撮影する撮影部を含み、前記撮影部によって撮影された画像に基づく画像信号を前記検出結果として出力し、
前記挙動解析部は、
前記画像信号に基づく画像について所定の画像処理を行い、その画像処理の結果を前記解析結果データとして出力する
請求項1から請求項3のいずれか1項に記載の衝突回避システム。 The detection device includes:
Including a photographing unit for photographing an object around the vehicle, and outputting an image signal based on an image photographed by the photographing unit as the detection result;
The behavior analysis unit
The collision avoidance system according to any one of claims 1 to 3, wherein predetermined image processing is performed on an image based on the image signal, and a result of the image processing is output as the analysis result data. - 前記挙動解析部は、前記画像信号に基づく画像から求めた値の変化または変化率を求める演算を行う
請求項6に記載の衝突回避システム。 The collision avoidance system according to claim 6, wherein the behavior analysis unit performs a calculation for obtaining a change or rate of change of a value obtained from an image based on the image signal. - 前記物体は、自車の後方を走る後続車を含む
請求項1から請求項7のいずれか1項に記載の衝突回避システム。 The collision avoidance system according to any one of claims 1 to 7, wherein the object includes a succeeding vehicle that runs behind the host vehicle. - 前記物体は、自車の前方を走る先行車を含む
請求項1から請求項7のいずれか1項に記載の衝突回避システム。 The collision avoidance system according to any one of claims 1 to 7, wherein the object includes a preceding vehicle that runs in front of the host vehicle. - 前記警報動作は、前記後続車に向けて所定の表示を行う動作と、前記後続車に向けて所定の音を出力する動作と、の少なくとも一方を含む
請求項1から請求項9のいずれか1項に記載の衝突回避システム。 10. The alarm operation according to claim 1, wherein the alarm operation includes at least one of an operation of performing a predetermined display toward the following vehicle and an operation of outputting a predetermined sound toward the subsequent vehicle. The collision avoidance system according to item. - 前記警報動作は、前記後続車内に設けられた他の警報装置を動作させるための信号を、該後続車へ送信する動作を含む
請求項1から請求項9のいずれか1項に記載の衝突回避システム。 The collision avoidance according to any one of claims 1 to 9, wherein the warning operation includes an operation of transmitting a signal for operating another warning device provided in the following vehicle to the following vehicle. system. - 前記制御装置は、前記自車の挙動についての検出結果に基づき、前記警報動作の実行を停止させるキャンセル部をさらに含む
請求項1から請求項11のいずれか1項に記載の衝突回避システム。 The collision avoidance system according to any one of claims 1 to 11, wherein the control device further includes a cancel unit that stops execution of the alarm operation based on a detection result of the behavior of the host vehicle. - 車両に設けられた検出装置により、前記車両の周囲の物体の挙動を非接触で検出する第1ステップと、
前記第1ステップにおける検出結果の前記物体の挙動が不自然な挙動パターンに該当するか否かを制御装置が判断する第2ステップと、
前記第2ステップにおける判断結果に基づいて、前記車両の後方を走る後続車への警報に関する警報動作を警報装置が行う第3ステップと、を含む
衝突回避方法。 A first step of detecting the behavior of an object around the vehicle in a non-contact manner by a detection device provided in the vehicle;
A second step in which the control device determines whether or not the behavior of the object as a detection result in the first step corresponds to an unnatural behavior pattern;
A collision avoidance method comprising: a third step in which an alarm device performs an alarm operation related to an alarm for a subsequent vehicle running behind the vehicle based on a determination result in the second step.
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Also Published As
Publication number | Publication date |
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EP3190574A1 (en) | 2017-07-12 |
JPWO2016035214A1 (en) | 2017-04-27 |
JP5748030B1 (en) | 2015-07-15 |
KR20170041162A (en) | 2017-04-14 |
US10192443B2 (en) | 2019-01-29 |
EP3190574A4 (en) | 2018-04-04 |
KR20160039146A (en) | 2016-04-08 |
US20170309179A1 (en) | 2017-10-26 |
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